JPH10178806A - Sensor-for-posture-control zero point compensation controller in farm work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely execute the zero point compensation of a sensor for posture control without using hardware constitution without the need of manual aid. SOLUTION: In the electronic control means 69 of a microcomputer or the like composed by loading the sensors for the posture control such as an angular velocity sensor 58 and an acceleration sensor 65, etc., for detecting the fluctuation of the posture of a rice transplanter to the rice transplanter and performing constitution so as to execute the posture control of the rice transplanter in a hydraulic cylinder 29 corresponding to the detected value of the sensors for the posture control, the control means 69 is provided with a central processing unit(CPU) for executing the respective kinds of arithmetic operations, the signals of the sensors for the posture control or the like are inputted to the control means 69 for plural times, the input values of the sensors for the posture control are averaged by the arithmetic operation of the CPU and the zero point compensation control of the sensors for the posture control is executed through a software.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for maintaining a horizontal posture of a working machine such as a seedling planting machine (rolling posture control) in a farming machine such as a rice transplanter for planting seedlings in a field, and for controlling the front and rear of the working machine. Maintain horizontal attitude (pitching attitude control)
More particularly, the present invention relates to a control device for performing zero point compensation of the attitude control sensor of the agricultural work machine for performing the operation.

[0002]

2. Description of the Related Art Conventionally, when planting seedlings in a field using a riding type rice transplanter, a seedling plant is mounted on the front or rear part of the traveling machine so as to be able to turn left and right and back and forth. ,
Planting mechanisms are provided at appropriate intervals on the left and right in the traveling direction, and the seedling mats on the seedling mounting table in the seedling plant are divided by the number of plants as appropriate by the planting mechanism that rotates up and down as the rice transplanter advances, and is planted in the field scene. For example, Japanese Patent Application Laid-Open No. 2-135015 and Japanese Patent Publication No. 57-27
No. 682, which is disclosed in Japanese Patent Application Laid-Open No. 2-135.
In the publication No. 015, a detection signal of a ground pressure sensor provided between a seedling plant and a float below the seedling plant is used as a detecting means in a control (rolling control) for maintaining a horizontal orientation of the seedling plant. It is disclosed.

Further, Japanese Patent Publication No. 57-27682 discloses a tilt sensor (tilt angle detection sensor) for attitude control (pitching control) for maintaining a substantially horizontal attitude so as to eliminate the front-back tilt attitude of the seedling plant. ) Is disclosed.

However, this type of sensor alone requires
Since there is a problem that it is not possible to accurately grasp the degree of posture variation of the seedling transplantation device and delay occurs in the posture control, the applicant of the present invention first disclosed in Japanese Patent Application No. 2-223376 that
It has been proposed to provide a speed sensor (angular speed sensor) capable of detecting the speed of the inclination and an acceleration sensor capable of detecting the acceleration of the inclination of the seedling plant.

[0005]

By the way, in the above attitude control sensor, the zero point of the output signal fluctuates due to the starting characteristic that it takes time until the output signal is stabilized after the power is turned on and the temperature of the environment. Has temperature drift characteristics. In other words, these sensors have a problem that the zero point of the output signal fluctuates greatly even when there is no posture change itself such as displacement (tilt angle, angular velocity, acceleration).

On the other hand, unlike the other precision machines, the above-mentioned agricultural work machine such as a rice transplanter usually starts work immediately after the work start switch is turned on. There is a problem that it is troublesome to perform the above-mentioned zero point compensation by turning the knob of the variable resistor associated with each sensor for the zero point compensation of the control sensor. In particular, when the types of attitude control sensors increase,
Assuming that zero compensation is performed for each of the sensors,
Work becomes more and more troublesome.

Furthermore, in this type of agricultural working machine, outdoor work is mainly performed, and the attitude control sensor mounted on the agricultural working machine is also easily affected by environmental changes such as temperature.
Even if the zero point is corrected (zero point compensation) at the beginning of the work in the early morning, the original zero position will be shifted as the temperature rises.
For example, when work is resumed in the afternoon, there is an annoyance that the zero point compensation of the attitude control sensor must be performed again according to the fluctuation of the environmental temperature.

In order to prevent the temperature change of the environment from being transmitted to the attitude control sensor, it is conceivable to cover the outside of the sensor with a heat insulating cover. There is a problem that it is impossible to make the constant constant without fail, and that the fluctuation of the starting characteristic cannot be made constant by a hardware configuration.

SUMMARY OF THE INVENTION The present invention has been made to solve these problems in the related art, and it is possible to execute the zero point compensation of the attitude control sensor without any troubles by a software process. It is an object of the present invention to provide an apparatus for performing the above.

[0010]

In order to achieve the above object, a sensor zero point compensation control device for attitude control in an agricultural work machine according to the present invention comprises:
An angular velocity sensor, a posture control sensor such as an acceleration sensor, and a control device configured to execute the posture control of the agricultural work machine with an actuator according to the detection value of the posture control sensor, the control device, Is provided with a central processing unit that performs various calculations, inputs a signal of the attitude control sensor and the like to the control device a plurality of times, and averages the input values of the attitude control sensor in the central processing unit. , For executing the zero point compensation control of the attitude control sensor.

[0011]

As described above, the detection signals of the attitude control sensors such as the angular velocity sensor and the acceleration sensor for detecting the attitude change of the agricultural work machine fluctuate to take positive and negative values. Even if there is a change in the zero point of the sensor output due to the start-up characteristics and the environmental temperature drift characteristics, the zero-point compensation can be reliably adjusted with a software configuration in which the sensor detection value is sampled multiple times and averaged by the central processing unit. Can be. In addition, since the processing is performed in a software manner, there is an effect that manufacturing costs such as mounting of parts as in the case of a hardware configuration are not required.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment (an example applied to a rice transplanter) embodying the present invention will be described with reference to the drawings. In FIG. The traveling body 1 comprises a body frame 2, front wheels 3, 3 attached to the front side thereof, and rear wheels 5, 5 attached to the rear side via swing cases 4, 4 which can be turned up and down. A control seat 6 and a control handle 7 are provided on the upper surface of the body frame 2, and the driving force of the engine 8 on the front upper surface of the body frame 2 is transmitted through the transmission mechanism in the power transmission unit case 9 and the swing cases 4, 4. This is a configuration for driving the rear wheel 5.

A parallel link mechanism 1 is provided at the rear of the traveling body 1.
The seedling transplanter 10 which can be vertically moved through the center 1 is mounted on a central transmission case 12 and on both left and right sides of the central transmission case 12 at appropriate intervals via a connecting pipe 12a having a transmission shaft inserted therein. Transmission cases 14 and 14 and a horizontally reciprocally movable seedling mounting table 1 that is inclined so that the upper end approaches the traveling machine body.
A seedling planting mechanism 16 for raising and lowering the planting claw between the seedling outlet at the lower end of the seedling mounting table 15 and the field scene 17 is provided on the left and right sides of the rear of the right and left planting transmission case 14. I have.

The parallel link mechanism 11 is driven up and down by the hydraulic cylinder 13 on the traveling body 1 side. The parallel link mechanism 11 includes a top link 18 and a pair of left and right lower links 19, 19. The base end of the top link 18 is pivotally connected to a portal frame standing on the vehicle body frame 2. A portal 20 to which each tip of the lower link 19, 19 is attached is rotatably connected to a rolling shaft 22 of a hitch 21 in the seedling plant 10, and the seed planting device 10 has a float 10a on its lower surface. The configuration is such that the running body 1 can be turned up and down (rolling) right and left around the rolling shaft 22 so as to slide in a field scene.

The guide portions 23 projecting from the left and right planting transmission cases 14, 14 are slidably fitted on the rails 24 at the lower end of the rear surface of the seedling mounting table 15, and the upper portion of the rear surface of the seedling mounting table 15 is slidable. The guide rail 25 is provided with the right and left planting transmission case 14,
Roller part 2 at the upper end of a pair of columns 26 protruding from 14
7 and 27 are slidably fitted respectively. A horizontal reciprocating hydraulic cylinder 29, which is an actuator for rolling control, is fixed to a bracket 28 attached to the portal type support 20, and both ends of a piston rod 30 that can move left and right in the hydraulic cylinder 29 are connected to the pair of right and left supports. 26, 26 are rotatably mounted on a connecting rod 32 via a universal joint 31.

The power from the engine 8 is transmitted to the transmission mechanism in the power transmission unit case 9 via the main clutch 33 to drive the rear wheels 5, while being transmitted to the seedling plant 10 via the PTO shaft 34. Is done.

Reference numeral 35 denotes an actuator for turning on / off the main clutch 33, 36 denotes an actuator for traveling speed change, 3
Reference numeral 7 denotes an actuator for a traveling clutch. A control valve 40 operable by the rotation of an arm 39 that can swing back and forth and protrudes from a steering gear box 38 associated with the steering handle 7 is provided with a hydraulic cylinder 42 in a hydraulic circuit 41.
The hydraulic cylinder 4 that can swing freely
The steering arm 44 of the steering mechanism 43 connected to the rotation mechanism 2 is rotatable around a rotation fulcrum 45,
This is a mechanism capable of changing the direction of the front wheels 3, 3 by a pair of tie rods 46, 46 connected to the steering arm 44 to perform a steering operation. Another electromagnetic solenoid control valve 47 in the hydraulic circuit 41 is automatically steered. Reference numeral 48 denotes an electromagnetic solenoid control valve for controlling the rolling (horizontal attitude).

Reference numeral 49 denotes a steering sensor including a potentiometer and the like provided at the rotation fulcrum 45 for detecting the steering angle of the traveling body. An output signal of the steering sensor 49 is provided by a microcomputer or the like to be described later. To the electronic control type control means 69. Code 5
Reference numeral 1 denotes an inclination sensor provided at an appropriate position of the seedling plant 10 to detect a left-right inclination angle of a working machine such as the seedling plant 10 with respect to a field scene. As shown in FIG. A pendulum 54 rotatable about a shaft 53 in a case 52
With a movable coil 55, and R0, R1, R
Bridge circuit consisting of two and LED1 which is a light emitting element
And a pair of left and right photocouplers of the LED2, the light receiving elements PT1 and PT2, and the external power supply E.

When the tilt sensor 51 is in the horizontal state, the light receiving element P
The light receiving amounts of T1 and PT2 are equal and the bridge circuit is balanced. When the tilt angle (θ1) is tilted, the pendulum 54 remains in the direction of gravity (vertical direction), and the light blocking plate 54a
, The light receiving of one of the light receiving elements PT1 is cut off, and the other light receiving element PT2 receives the light and turns on, the balance of the bridge circuit is lost, and the current flows through the movable coil 55, and the current causes the rotating coil 55 to rotate. Torque and pendulum 54
The pendulum 54 stops at the moment when the moment due to the weight is balanced (θ2), and the current value (I) at that time becomes an output signal, which is proportional to the inclination angle (θ1) (see FIG. 6). .

Numeral 58 shown in FIG. 7 is a tuning fork vibration type angular velocity sensor which connects the bottoms of a driving element 59 composed of a piezoelectric bimorph and a monitor element 60 by a connection block 61, while connecting the drive element 59 and the monitor element 60. Also, a tuning fork structure is formed by orthogonally coupling detection elements 62 and 63, each of which is also a piezoelectric bimorph. When a voltage is applied only to the drive element 59 and vibrates, the monitor element 60 is connected via the connection block 61. Vibrates. The frequency of the driving vibration is stabilized by the vibration feedback control method of controlling the applied voltage by monitoring the vibration amplitude and phase of the monitor element 60.

Then, in this stable state, when the angular velocity sensor has a rotational movement at an angular velocity ω around the sensor axis 64 in FIG. 7, Coriolis in a direction perpendicular to the vibration direction (XX direction) of the detecting elements 62 and 63. Force Fc is generated. Since a voltage corresponding to the bending can be detected from the driving element 59 and the detecting elements 62 and 63 on the monitor element 60 side which are bent by the Coriolis force, the angular velocity can be detected by this.

Reference numeral 65 denotes an acceleration sensor provided in the vicinity of the rolling shaft 22 of the seedling plant 10 and detects acceleration when the seedling plant 10 rotates left and right about the axis of the rolling shaft 22. Yes, a thin disk-shaped piezo plastic film is attached as a vibrator in the case,
Due to the diaphragm structure fixed on the circumference, vertical and horizontal components in the acceleration direction can be separated.

FIG. 8 shows the left and right rolling posture of the seedling plant 10. FIGS. 9 (a), 9 (b) and 9 (c) show left and right horizontal positions from the point A where the seedling plant 10 is left and right horizontal. After tilting to the point B, returning to the point A, and further performing a posture change of tilting from the point A to the right point D (when the seedling transplanter 10 performs pendulum movement right and left around the point A), 3 shows states of output signals of the inclination sensor 51, the angular velocity sensor 58, and the acceleration sensor 65. That is, as shown in FIG. 9A, the output signal of the inclination sensor 51 takes time on the horizontal axis and takes the output signal on the vertical axis. At this time, when the seedling plant 10 inclines leftward from point A to point B in FIG. 8, the value of + above the zero point is taken.

As shown in FIG. 9B, time is taken on the horizontal axis, and the output signal of the angular velocity sensor 58 (taken on the vertical axis) is
The angular velocity at the time of counterclockwise rotation is a positive value, and the value at the time of clockwise rotation is a negative value. As shown in FIG. 9 (c), time is taken on the horizontal axis, and the output signal of the angular acceleration sensor 65 (taken on the vertical axis) has a positive gradient by increasing the clockwise rotation, and has a counterclockwise rotation. A negative gradient is set by increasing the speed during operation.

Reference numerals 66, 67, and 68 indicate the above-mentioned sensors 5 respectively.
A / with an amplification circuit provided corresponding to 1, 58, 65
It is a D converter.

The control means 69 shown in FIG.
A microcomputer comprising a chip microprocessor or the like, for executing program control such as fuzzy inference for attitude control, a central processing unit (CPU) for executing various operations and fuzzy inference operations, Read-only memory (ROM) for pre-storing and controlling programs, and read / write memory (RAM) for storing time-varying input signals and the like and outputting them at the time of calculation
And an interface connected to the input / output unit.

The input section of the interface includes output signals from the sensors 51, 58, and 65 and a clutch switch 70 linked to the switching operation of the traveling clutch.
Input signal. The output signal of the clutch switch 70 that operates in response to the operation of the travel clutch actuator 37 is turned on when the travel clutch is disengaged (stops traveling), and outputs an OFF signal when the travel clutch is engaged (during travel).

Connected to the output of the interface are electromagnetic solenoids 71 and 72 of a control valve 47 for driving the hydraulic cylinder 42 for the steering operation, and electromagnetic solenoids 73 and 74 for a control valve 48 for rolling control. I do.

Next, a so-called zero-point compensation control device for correcting the zero point of the angular velocity sensor 58 among the attitude control sensors for detecting the attitude change, and a method of adjusting the same will be described. The zero point compensation control device uses the control means 69 such as the microcomputer, and adopts a soft adjustment method by a program in the microcomputer.

FIG. 10 shows the sensitivity characteristics of the angular velocity sensor 58. As described above, the output signal (V: voltage) is set to a positive value with respect to the angular velocity (° / s) at the time of counterclockwise rotation.
This is a linear increasing function in which the output signal has a negative value with respect to the angular velocity at the time of clockwise rotation. FIG. 11 shows the start-up time characteristic of the angular velocity sensor 58, and the output signal value of the angular velocity sensor 58 when the angular velocity is zero is changed to the zero point in accordance with the lapse of time (minutes) since the power supply to the angular velocity sensor 58 is turned on. It shows how far it deviates from.

As can be understood from this figure, in the initial stage of turning on the power, the output signal value shows a finite value (not zero) even though the detected object (in this case, the seedling plant 10) has no angular velocity. As time elapses, the output signal value approaches the zero point.

FIG. 12 shows a so-called temperature drift characteristic, showing how much the output signal value of the angular velocity sensor 58 deviates from the zero point depending on the environmental temperature (° C.) of the place where the angular velocity sensor 58 is installed in the state of zero angular velocity. Things. In this sensor, the output signal value is zero near 20 ° C., and shifts to the negative side as the temperature rises, and shifts to the positive side as the temperature falls.

As described above, if the posture control is executed with the output signal value of the angular velocity sensor deviated from the zero point, the posture of the seedling plant is controlled in a bad direction even though the posture is normal. The control accuracy is reduced. The present invention employs two types of zero point compensation methods for solving this inconvenience. Further, in the case of a farming machine such as a rice transplanter, a continuous operation state is rare, and a non-working operation (such as an operation of stopping the running and adding a seedling mat) during a working operation (a seedling working operation while running). In consideration of the fact that the work machine often enters a neutral state, for example, a horizontal horizontal posture state, the zero point compensation of the posture control sensor is performed by using this phenomenon, and this kind of posture control is performed. The zero point compensation is executed by utilizing the fact that the output signal value of the application sensor can take a positive or negative value.

One of the control methods for the zero point compensation is that the seedling transplanter can take a horizontal left-right attitude stably when the rice transplanter is not running, that is, in this state, the output signal of the angular velocity sensor is output. In consideration of the fact that the value will naturally approach the zero point, and taking into account that the change in the environmental temperature where the angular velocity sensor is installed occurs with the passage of time from the power-on, the value of the traveling clutch provided on the traveling aircraft is considered. A clutch sensor for detecting the on / off operation, or a vehicle speed sensor for detecting the vehicle speed is provided, and the detection value of the angular velocity sensor, which is the attitude control sensor, is synchronized with the disengagement time period of the traveling clutch or the traveling stop time period for a plurality of times. The average value is read as a zero point, and the zero point is updated every time the traveling clutch is operated or traveling is stopped.

The control of the zero point compensation will be described with reference to FIG. 13 (time chart) and the flowcharts of FIG. 14 and FIG. FIG. 13A shows a state in which the traveling clutch is engaged (with power transmission) and is off (without power transmission).
3 (b) shows a change in the speed of the traveling body 1. FIG.
3 (c) shows the output signal value of the angular velocity sensor 58. In these figures, the horizontal axis represents the passage of time.

In FIG. 13, t0 is the time from when the traveling clutch is switched from on to off to when the traveling machine 1 stops, and t1 is the output of the angular velocity sensor 58 after the traveling clutch is switched off. The waiting time till the start of reading the signal value, t2, is the time required to read the output signal value of the angular velocity sensor 58. The output signal value of the angular velocity sensor 58 is read a plurality of times within the time t2. For example, if the sampling time, which is the time required to read one output signal value, is 6
When about ms, about 50 times, t2 time 300ms ~
Set to about 500 ms.

The waiting time t1 is set so as to be longer than the time t0 until the traveling body 1 stops. Therefore, the time t0 until the fuselage stops due to the clutch operation is the above time.
If it is shorter than t1, zero point compensation is not performed (see the position of t3 in FIG. 13).

FIG. 14 is a main flow chart. Following the start, in step S1, the initial value of the rolling control and the initial value of the timer for judging the time such as t0, t1, t2 are set (t ← 0). . Next, in a step S2, it is determined whether or not the automatic switch 75 for executing the posture control is ON. When the automatic switch 75 is OFF (S2: OFF), the operator can manually change the posture by a manual switch (not shown) (step S3).

When the automatic switch 75 is ON in step S2, then, in step S4, ON / OFF of the planting switch 76 for operating the seedling plant 10 is determined.
At the time of FF (the seedling plant 10 is not operated), there is no need to execute automatic posture control. If it is determined to be ON in step S4, for the time being, the seedling plant 10 reads the initial output signal value Vo of the angular velocity sensor 58 in a stationary state as a zero point (step S5), and performs seedling planting while executing posture control. (Step S6).

After that, the operator sometimes switches the planting switch 76 or the automatic switch 75 in order to interrupt the seedling planting operation or the automatic posture control. When the planting switch 76 is turned off (step S7), it is determined that the seedling planting operation has been interrupted, and the hydraulic cylinder 29 is operated to forcibly return to the center so that the seedling planting device 10 is in a horizontal state horizontally. (Step S8).

When it is determined in step S9 that the automatic switch 75 is OFF (automatic attitude control is stopped),
Next, in step S10, the ON / OFF of the clutch switch 70 linked to the operation of the traveling clutch determines whether the traveling clutch is engaged or disengaged. If it is determined in this step S10 that the clutch switch 70 is OFF (during running),
It returns to before the said step S2. If it is determined in step S10 that the clutch switch 70 is ON (stop running) (for example, interruption of seedling planting work for adding seedling mats), a zero point compensation subroutine described later is executed (step S11). It returns to before step S2.

In steps S7 and S9,
When both the planting switch 76 and the automatic switch 75 are on, the clutch switch 70 is turned on in step S12.
If it is determined that the traveling is stopped, a subroutine for zero point compensation is executed as described above (step S13). This is the case, for example, during the seedling planting operation, in which the seedling plant 10 is temporarily stopped in a state of being lowered to the field.

Next, the subroutine flowchart of the zero point compensation shown in FIG. 15 will be described. In step P1 following the start, the timer starts operating when the clutch switch 70 is turned ON (stop running), and the time t is counted. Next, at step P2, the time t of the timer is t0.
It is determined whether or not (time required for stopping the traveling of the traveling body 1) has been exceeded. If it does not exceed (no), no zero point compensation is performed, and the process ends.

When t> t0 in step P2, in step P3, the time t of the timer is set to time t1 (the angular velocity sensor 5).
8 (waiting time until the start of reading the output signal value). When t> t1, in order to execute the reading of the output signal value of the angular velocity sensor 58 a plurality of times,
"1" is added to the number of readings n (its initial value is 0) (step P4), the output signal value Vn of the angular velocity sensor 58 is read (step P5), and the number of readings n is counted (step P6). Next, in Step P7, it is determined whether or not the time t has elapsed the time t2 (the time required for reading the output signal value of the angular velocity sensor 58), and Steps P4 to P6 are repeated until the time has elapsed.

If it is determined in step P7 that t> t2 (P7: yes), the output signal value V read multiple times
The average value Va of n is calculated and stored (step P
8). Next, in step P9, the clutch switch 70
It is determined whether or not the driving has been switched to the FF (restart running), and when it is determined that driving is restarted (P9: yes),
Update is performed to replace the calculated average value Va with the old average value Va (step P10). This updated new average value Va is used as the angular velocity sensor 5 in the horizontal state of the seedling plant 10 while the traveling body 1 is stopped.
Assuming that the output signal value is zero (zero point), zero point compensation is executed (step P11).

In this manner, the average value of the output signal values of the angular velocity sensor 58 a plurality of times when the traveling machine 1 is in a running stop state, in which it is natural for the seedling transplanter 10 to take a horizontal posture horizontally, is adopted. Thus, the zero point can be accurately detected. Also, since the average value is updated every time the rice transplanter stops running, such as when the rice transplanter is used from morning to evening,
Even when the zero point deviates due to a temperature change, the zero point compensation can be automatically executed each time, so that the accuracy of the attitude control is further improved.

In the above-described embodiment, the clutch switch 70 is used as means for determining whether the traveling body 1 is in the traveling stopped state or the traveling state. Alternatively, a detection value of a vehicle speed sensor may be used.

Another method of executing the zero point compensation is to detect the fluctuation speed of the right and left rolling of the seedling plant,
As described above, the output signal value of the angular velocity sensor attached to the sensor needs to have opposite values when the seedling device is rotated clockwise and counterclockwise. On the other hand, in order for the rolling seedling plant to become stable,
In view of the fact that the angular velocity sensor often swings reciprocally right and left, an average value of a plurality of detection values is taken even during the operation of the angular velocity sensor. In this case, the average value is very close to the original zero point.

In this embodiment, the output signal value Vn of the angular velocity sensor 58 is detected (sampled) and stored a plurality of times during the seedling planting operation, and the average value is calculated. It is something to consider. Angular velocity sensor 58
Sampling time per output signal is approximately 6
The ms (milliseconds) and the amplitude time during which the seedling plant 10 swings right and left vary depending on the seedling planting speed and the hardness or softness of the soil in the field, but are about 300 ms to 800 ms. By setting the required sampling time to about 10 seconds, a large number of output signal values (positive and negative values) can be sampled when the seedling plant swings back and forth multiple times. Therefore, the accuracy of the zero point compensation is improved.

During the daytime, the temperature changes quickly,
As a result, the speed at which the zero point fluctuates due to the temperature drift, in other words, the time required for the temperature change to affect the zero point compensation,
Since it is considered to be much longer than the above 10 seconds, by updating the calculated average value every longer time interval, for example, about every 30 seconds to 1 minute, the temperature drift due to the temperature change of the environment with the passage of time Can also be dealt with.

In each of the above embodiments, the angular velocity sensor 58 mounted on the seedling plant 10 has been described. However, the inclination sensor 51 and the acceleration sensor 65 can also take positive and negative values according to changes in posture. It goes without saying that zero point compensation can be performed. Furthermore, the present invention can be applied to a case where pitching posture control is performed by detecting a change in the longitudinal rotation posture of the seedling plant using the inclination sensor, the angular velocity sensor, and the acceleration sensor. Thus, in rolling attitude control and pitching attitude control,
Fuzzy inference is applied using the results of the inclination sensor, angular velocity sensor, and acceleration sensor, and is also applied when executing control to operate the actuator of the posture correction drive means mounted between the seedling plant and the traveling machine. can do.

[Brief description of the drawings]

FIG. 1 is a side view of a riding type rice transplanter.

FIG. 2 is a plan view of a riding type rice transplanter.

FIG. 3 is a side view of a main part of a connecting portion between the seedling plant and the traveling machine body.

FIG. 4 is an operation explanatory diagram including a block diagram of a control device and a hydraulic circuit.

FIG. 5 is a VV view of FIG. 3;

FIG. 6 is a block diagram of a tilt sensor.

FIG. 7 is a perspective view of an angular velocity sensor.

FIG. 8 is an explanatory diagram showing a rolling state of the seedling-planting device.

FIG. 9A is a diagram showing a state of change in left and right inclination angles;
(B) is a diagram showing a variation state of the angular velocity, and (c) is a diagram showing a variation state of the acceleration.

FIG. 10 is a diagram showing sensitivity characteristics of the angular velocity sensor.

FIG. 11 is a diagram showing a zero point fluctuation after the power supply of the angular velocity sensor is turned on.

FIG. 12 is a diagram showing a temperature drift characteristic of the angular velocity sensor.

FIG. 13 is a time chart.

FIG. 14 is a main flowchart.

FIG. 15 is a subroutine flowchart.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine body 3, 5 wheels 10 Seedling plant 15 Seedling table 16 Planting mechanism 11 Link mechanism 22 Rolling axis 51 Inclination sensor 58 Angular speed sensor 65 Acceleration sensor 69 Control means 70 Traveling clutch switch 75 Automatic switch 76 Planting switch

Claims (1)

[Claims] 1. A method for detecting a posture change of an agricultural work machine,
An angular velocity sensor, a posture control sensor such as an acceleration sensor, and a control device configured to execute the posture control of the agricultural work machine with an actuator according to the detection value of the posture control sensor, the control device, Is provided with a central processing unit that performs various calculations, inputs a signal of the attitude control sensor and the like to the control device a plurality of times, and averages the input values of the attitude control sensor in the central processing unit. A zero-point compensation control device for an attitude control sensor in an agricultural work machine, which performs zero-point compensation control of the attitude control sensor.